Apparatus and method for generating three-dimensional information

ABSTRACT

A disclosure of the present invention is related to an apparatus and a method for generating three-dimensional information. The apparatus for generating three-dimensional information may include a light source providing light to an object to be reconstructed in three-dimensional information, a coordinate reference mechanism unit provided between the light source and the object and having a plurality of protrusions reflecting the light; a camera unit outputting an image capturing the coordinate reference mechanism unit and the object simultaneously; and a three-dimensional information processing unit generating the three-dimensional information of the object by identifying a projection plane formed by the light and using the projection plane, considering a relationship between a plurality of actual protrusion reflection points at which the light is reflected by the plurality of protrusions respectively and a plurality of protrusion reflection points displayed in the image.

The present application claims priority to Korean Patent Application No.10-2016-0165987, filed Dec. 7, 2016 and Korean Patent Application No.10-2017-0156689, filed Nov. 22, 2017, the entire contents of which isincorporated herein for all purposes by this reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present disclosure relates generally to a technique forreconstructing three-dimensional information of an object and, moreparticularly, to a method and an apparatus for generating athree-dimensional coordinate point of an object.

Description of the Related Art

Generally, a three-dimensional scanner for collecting three-dimensionalinformation is divided into a contact type device and a non-contact typedevice. The non-contact type device collects light reflected orscattered from an object to be scanned, and performs image processing orcomputes a distance from each area to be measured, thereby determining athree-dimensional shape of the object to be scanned.

One of scanning methods of the non-contact type three-dimensionalscanner is a position sensitive device (PSD) method. In general, ascanner of the PSD method includes a light emitting unit that emits alaser or an infrared ray, and a light receiving sensor that receives thelight reflected from the object after being emitted from the lightemitting unit, wherein the scanner is configured to compute the distancefrom a direction of the reflected light to an area of the object wherethe reflection is performed, and to repeat such computation, whereby itis possible to determine the overall three-dimensional shape of theobject.

Generally, a three-dimensional scanning technique using the non-contacttype three-dimensional scanner or the like has been used only for aspecialized field such as a reverse design and a quality management inthe industry. However, with the recent spread of three-dimensionalprinters, there has been an increasing interest in three-dimensionalscanning by a general user in fields such as education, medical care,entertainment, distribution, and the like.

SUMMARY OF THE INVENTION

In accordance with market trends, there has been a need for a technologyin which not only specialized person but also a general user can easilyperform three-dimensional scanning without using complicated equipmentand can generate three-dimensional information of an object more easily.

It is an object of the present invention to provide an apparatus and amethod for generating three-dimensional information in whichthree-dimensional scanning is easily performed by a general user using asimple mechanism unit without having complicated or large-sizedequipment.

Another object of the present invention is to provide an apparatus and amethod for generating three-dimensional information in which referenceinformation of three-dimensional scanning is set using a simplemechanism unit and three-dimensional scanning is performed throughrelatively simple computations without correcting the mechanism unit.

The technical objects to be achieved by the present disclosure are notlimited to the technical matters mentioned above, and those skilled inthe art will appreciate that other technical subjects which are notmentioned are clearly understood from the following description.

According to an aspect of the present disclosure, an apparatus forgenerating three-dimensional information may be provided. The apparatusmay include a light source providing light to an object to bereconstructed in three-dimensional information; a coordinate referencemechanism unit provided between the light source and the object andhaving a plurality of protrusions reflecting the light; a camera unitoutputting an image capturing the coordinate reference mechanism unitand the object simultaneously; and a three-dimensional informationprocessing unit generating three-dimensional information of the objectby identifying a projection plane formed by the light and using theprojection plane, considering a relationship between a plurality ofactual protrusion reflection points at which the light is reflected bythe plurality of protrusions respectively and a plurality of protrusionreflection points displayed in the image.

According to an aspect of the present disclosure, a method forgenerating three-dimensional information may be provided. The method mayinclude acquiring an image by capturing a coordinate reference mechanismunit provided between a light source and an object to be reconstructedin three-dimensional information and having a plurality of protrusionsreflecting light provided from the light source, and the objectsimultaneously; identifying coordinates of a plurality of protrusionreflection points at which the light is reflected by the plurality ofprotrusions in the image; and generating the three-dimensionalinformation of the object by identifying a projection plane formed bythe light and using the projection plane, considering a relationshipbetween the plurality of protrusion reflection points in the image and aplurality of actual protrusion reflection points actually reflected bythe plurality of protrusions.

The features briefly summarized above for this disclosure are onlyexemplary aspects of the detailed description of the disclosure whichfollow, and are not intended to limit the scope of the disclosure.

According to the present disclosure, it is possible to provide anapparatus and a method for generating three-dimensional information byusing a simple mechanism unit without having complicated or large-sizedequipment.

Further, according to the present disclosure, it is possible to providean apparatus and a method for generating three-dimensional informationin which three-dimensional scanning may be easily performed by a generaluser using a simple mechanical unit.

In addition, according to the present disclosure, it is possible toprovide an apparatus and a method for generating three-dimensionalinformation in which reference information of three-dimensional scanningis set using a simple mechanism unit and three-dimensional scanning isperformed through relatively simple computations without correcting themechanical unit.

The effects obtainable in the present disclosure are not limited to theeffects mentioned above, and other effects not mentioned can be clearlyunderstood by those skilled in the art from the description describedbelow.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other objects, features and other advantages of thepresent invention will be more clearly understood from the followingdetailed description when taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 is a block diagram showing a configuration of an apparatus forgenerating three-dimensional information according to an embodiment ofthe present disclosure;

FIG. 2 is a diagram illustrating a relationship between an imagecaptured by an apparatus for generating three-dimensional informationaccording to an embodiment of the present disclosure and a projectionplane formed by a coordinate reference mechanism unit and a lightsource;

FIG. 3 is a diagram illustrating a relationship between a plurality ofactual protrusion reflection points at which light generated by anapparatus for generating three-dimensional information according to anembodiment of the present disclosure is reflected, and a plurality ofprotrusion reflection points displayed in the image;

FIG. 4 is a flowchart showing procedures of a method for generatingthree-dimensional information according to an embodiment of the presentdisclosure; and

FIG. 5 is a block diagram illustrating a computing system that executesa method and an apparatus for generating three-dimensional informationin accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION

Hereinbelow, embodiments of the present invention will be described indetail so that those skilled in the art can easily carry out the presentinvention referring to the accompanying drawings. However, the presentdisclosure may be embodied in many different forms and is not limited tothe embodiments described herein.

In the following description of the embodiments of the presentinvention, a detailed description of known functions and configurationsincorporated herein will be omitted when it may make the subject matterof the present disclosure unclear. Parts not related to the descriptionof the present disclosure in the drawings are omitted, and similar partsare denoted by similar reference numerals.

In the present disclosure, when an element is referred to as being“connected”, “coupled”, or “connected” to another element, it isunderstood to include not only a direct connection relationship but alsoan indirect connection relationship. Also, when an element is referredto as “containing” or “having” another element, it means not onlyexcluding another element but also further including another element.

In the present disclosure, the terms first, second, and so on are usedonly for the purpose of distinguishing one element from another, and donot limit the order or importance of the elements unless specificallymentioned. Thus, within the scope of this disclosure, the firstcomponent in one embodiment may be referred to as a second component inanother embodiment, and similarly a second component in one embodimentmay be referred to as a second component in another embodiment.

In the present disclosure, components that are distinguished from oneanother are intended to clearly illustrate each feature and do notnecessarily mean that components are separate. That is, a plurality ofcomponents may be integrated into one hardware or software unit, or asingle component may be distributed into a plurality of hardware orsoftware units. Accordingly, such integrated or distributed embodimentsare also included within the scope of the present disclosure, unlessotherwise noted.

In the present disclosure, the components described in the variousembodiments do not necessarily mean essential components, but some maybe optional components. Accordingly, embodiments consisting of a subsetof the components described in one embodiment are also included withinthe scope of this disclosure. Also, embodiments that include othercomponents in addition to the components described in the variousembodiments are also included in the scope of the present disclosure.

Hereinafter, embodiments of the present disclosure will be describedwith reference to the accompanying drawings.

FIG. 1 is a block diagram showing a configuration of an apparatus forgenerating three-dimensional information according to an embodiment ofthe present disclosure.

Referring to FIG. 1, the apparatus for generating three-dimensionalinformation may include a light source 11, a coordinate referencemechanism unit 13, a camera unit 15, and a three-dimensional informationprocessing unit 17.

The light source 11 may be a device for providing light to an object 100to be reconstructed in three-dimensional information. For example, thelight source 11 may include at least one line laser device that outputsline laser light, and at least one pattern laser device that outputslaser light of a predefined pattern. Further, the light source 11 may beprovided to output two or more laser lights at the same time.

The coordinate reference mechanism unit 13 may be provided between thelight source 11 and the object 100 and have a plurality of protrusions13 a, 13 b, 13 c, and 13 d reflecting the light provided from the lightsource 11. The light reflected through the plurality of protrusions 13a, 13 b, 13 c, and 13 d may be used to set a reference ofthree-dimensional coordinates. Accordingly, the plurality of protrusions13 a, 13 b, 13 c, and 13 d may have positions and arrangementsdetermined in accordance with a coordinate setting method.

Also, the coordinate reference mechanism unit 13 may further include afixed plate 13 e in which the plurality of protrusions 13 a, 13 b, 13 c,and 13 d are fixed to cause the positions and arrangements of theplurality of protrusions 13 a, 13 b, 13 c, and 13 d to be maintained.

Further, the coordinate reference mechanism unit 13 may further includea fixing arm 13f that holds the fixed plate 13 e to the light source 11to cause the plurality of protrusions 13 a, 13 b, 13 c, and 13 d to bemaintained at a predetermined position between the light source 11 andthe object 100.

The camera unit 15 may include a lens-array and an image sensor, and maybe a device for generating and providing a two-dimensional image (orpicture). In particular, the camera unit 15 captures an image (orpicture) 105 including the coordinate reference mechanism unit 13 andthe object 100, and outputs the captured image (or picture) 105 to thethree-dimensional information processing unit 17.

Further, the image (or picture) 105 including the coordinate referencemechanism unit 13 and the object 100 may be basically needed to generatethe three-dimensional information of the object 100. It is requested tocapture the object in directions or positions different from oneanother, in order to more accurately generate three-dimensionalinformation about the object 100. Therefore, the camera units 15, 15′,and 15″ acquire a first image (or picture) captured from a first cameraunit 15 provided in a first direction, a second image (or picture)captured from a second camera unit 15′ provided in a second direction,and a third image (or picture) captured from a third camera unit 15″provided in a third direction to be provided to the three-dimensionalinformation processing unit 17.

The first camera unit 15, the second camera unit 15′, and the thirdcamera unit 15″ may be the same camera device arranged at positionsdifferent from one another.

As another example, the first camera unit 15, the second camera unit15′, and the third camera unit 15″ may be different camera devices, inwhich the first image (or picture), the second image (or picture), thethird image (or picture), and the like which are captured at the sametime may be provided to the three-dimensional information processingunit 17, respectively.

Further, the camera unit 15, 15′, and 15″ may capture the light source11, the coordinate reference mechanism unit 13, and the object 100, tooutput a digital image. For example, the camera unit 15, 15′, and 15″are compact camera devices that are easy to carry and may include aconventional digital camera device, a camera device provided in a mobiledevice, an action cam (Sports & Action Cameras), and the like.

The three-dimensional information processing unit 17 may include astorage medium storing program codes capable of executing a program forgenerating three-dimensional information, and an electronic devicehaving at least one processor for executing the program code. Thethree-dimensional information processing unit 17 may be provided in acamera device having the camera units 15, 15′, and 15″, or provided in aseparate electronic device.

In particular, the three-dimensional information processing unit 17 mayset three-dimensional reference coordinates based on a plurality ofprotrusion reflection points at which the light is reflected by theplurality of protrusions, in the image (or picture) 105 including thecoordinate reference mechanism unit 13 and the object 100, and generatethree-dimensional information of the object based on thethree-dimensional reference coordinates.

Hereinafter, the operation of the three-dimensional informationprocessing unit 17 to generate three-dimensional information of anobject will be described in detail.

FIG. 2 is a diagram illustrating a relationship between some componentsprovided in the apparatus for generating three-dimensional informationaccording to an embodiment of the present disclosure, and an imagecaptured by a camera provided in the apparatus for generatingthree-dimensional information.

Based on a pinhole camera model, it is possible to extend a straightline 203 (hereinafter referred to as a ‘projection line’) passingthrough an arbitrary point 202 through which a line laser passes on animage 200, with respect with an origin (O) 201 of a camera coordinatesystem.

On the other hand, the light emitted by the line laser forms aprojection plane 207, and a projection curve 204 of the line laser maybe formed along an outer region of the object 100 as the projectionplane 207 reaches the object 100.

An intersection point 205 between the extended straight line 203 and theprojection plane 207 can be identified and this intersection point 205can be determined as a point on a surface of the object 100.

Based on this, the three-dimensional information processing unit 17 canidentify the points through which the line lasers pass on the image 200and detect the coordinates corresponding to the points on the surface ofthe object by identifying the intersection points corresponding to thesepoints.

For example, the three-dimensional information processing unit 17defines the arbitrary point 202 through which a line laser passes on animage 200 as [u v], and computes a direction vector of the straight line203 passing through the arbitrary point 202 via a computation of thefollowing Equation 1.

d{tilde over (≈)}K⁻¹[u v 1]^(T)   [Equation 1]

Herein K is a camera internal parameter matrix defined in a field ofcomputer vision, and the camera internal parameter matrix can be presetby a general camera calibration method. Further, the value of thearbitrary point 202 through which the line laser passes on the image 200can be corrected by reflecting a degree of distortion of lens providedin the camera unit.

On the other hand, the three-dimensional information processing unit 17can compute the projection plane 207 formed by the light emitted by theline laser from the image 200 based on the camera coordinate system.

Hereinafter, the operation of the three-dimensional informationprocessing unit 17 to compute the projection plane 207 will be describedin detail.

FIG. 3 is a diagram illustrating a relationship between a plurality ofactual protrusion reflection points at which light generated by anapparatus for generating three-dimensional information according to anembodiment of the present disclosure is reflected, and a plurality ofprotrusion reflection points displayed in the image.

The laser light output from the light source 11 may form the projectionplane 207. The projection plane 207 formed by the laser light may useprotrusion reflection points 14 a, 14 b, 14 c, and 14 d reflected by theplurality of protrusions 13 a, 13 b, 13 c, and 13 d provided in thecoordinate reference mechanism unit 13, in order to precisely confirmfrom which position the laser light is generated and in which directionthe laser light is projected.

The three-dimensional information processing unit 17 may compute theprojection plane 207 considering a relationship between actual positionsof the protrusion reflection points 14 a, 14 b, 14 c and 14 d reflectedby the plurality of protrusions 13 a, 13 b, 13 c and 13 d, andprotrusion reflection points 33 a, 33 b, 33 c, and 33 d extracted fromthe image 200.

For example, the three-dimensional information processing unit 17 sets avirtual coordinate system X₁, Y₁, and Z₁ considering an actual space.The origin is set to one of the protrusion reflection points 14 a, 14 b,14 c, and 14 d reflected by the plurality of protrusions 13 a, 13 b, 13c, and 13 d, and an X-axis and a Y-axis are positioned on a plane formedby the remaining points. Accordingly, the three-dimensional informationprocessing unit 17 may acquire a three-dimensional coordinate ([X₁Y₁ 0],i=0, 1, . . . , 3) of the protrusion reflection point, by reflecting astructure of the coordinate reference mechanism unit 13.

In addition, the three-dimensional information processing unit 17 mayextract the protrusion reflection points 33 a, 33 b, 33 c, and 3 dreflected respectively at the plurality of protrusions 13 a, 13 b, 13 c,and 13 d from the image 200, and set a 2D coordinate of this point as[u_(i) v_(i)] (i =0, 1, . . . , 3) for a coordinate system u_(C), v_(C).

In the apparatus for generating three-dimensional information accordingto the embodiment of the present disclosure, a point [x_(i) y_(i)1]^(T)(K⁻¹[u_(i) v_(i) 1]^(T)) on the normalized image 200 plane can beexpressed by the following equation 2.

[x_(i) y_(i) 1]^(T){tilde over (≈)}H[X_(i) Y_(i) 1]^(T)   [Equation 2]

Herein, H can be calculated from [X_(i) Y_(i) 0] (i=0, 1, . . . , 3) and[u_(i) v_(i)] (i=0, 1, . . . , 3) as a homography 3×3 matrix.

At this time, H can be expressed by the following Equation 3 using arotation matrix (R=[r₀ r₁ r₂]) and a translation vector (t) between thetwo coordinate systems X₁ Y₁ Z₁ and X_(C) Y_(C) Z_(C).

H=[r ₀ r ₁ t ₃]  [Equation 3]

The three-dimensional information processing unit 17 can compute therotation matrix (R=[r₀ r₁ r₂]) and the translation vector (t) from Hobtained by the above Equation 3. Further, the three-dimensionalinformation processing unit 17 can improve the accuracy of the rotationmatrix (R=[r₀ r₁ r₂]) and the translation vector (t) by a nonlinearoptimization method through a cost function of the following Equation 4and by setting the rotation matrix (R=[r₀ r₁ r₂]) and the translationvector (t) obtained above as initial values.

$\begin{matrix}{\sum\limits_{i = 0}^{3}{{\lbrack {x_{i}y_{i}} \rbrack^{T} - {\pi ( {\lbrack {r_{0}r_{1}t} \rbrack \lbrack {X_{i}Y_{i\;}1} \rbrack}^{T} )}}}^{2}} & \lbrack {{Equation}\mspace{14mu} 4} \rbrack\end{matrix}$

Herein π([a b c]^(T)) is a function defined as [a/c b/c]^(T).

Supposing that r₂=[r₀₂ r₁₂ r₂₂]^(T) and t=[t_(x) t_(y) t_(z)], an X₁-Y₁plane equation can be calculated by the following Equation 5 from therotation matrix (R=[r₀ r₁ r₂]) and the translation vector (t).

r ₀₂(x−t _(x))+r ₁₂(y−t _(y))+r ₂₂(z−t _(z))=0   [Equation 5]

Since the protrusion reflection points 14 a, 14 b, 14 c, and 14 d aregenerated by causing the plurality of protrusions 13 a, 13 b, 13 c, and13 d to be encountered on the projection plane 207, the plane expressionof the above Equation 5 corresponds to the expression of the projectionplane 207.

Thus, the three-dimensional information processing unit 17 uses theEquation 5 corresponding to the expression of the projection plane 207and the Equation 1 representing the direction vector of the projectionline 203 passing through the arbitrary point 202, to compute anintersection point 205 between the projection line 203 and theprojection plane 207. It is possible to obtain a set ofthree-dimensional points on the projection curve 204 by performing thisprocess for all the laser points projected on the image 200 of theprojection curve 204 by the laser.

The three-dimensional information processing unit 17 repeatedly performsthe operation of computing three-dimensional coordinates of theprojection curve 204 with respect to the continuous image acquired whilethe laser light source is moving to cause the laser light to beirradiated on the object, thereby computing three-dimensional scanresults representing a shape of the object.

FIG. 4 is a flowchart showing procedures of a method for generatingthree-dimensional information according to an embodiment of the presentdisclosure.

The method for generating three-dimensional information may be performedby the apparatus for generating three-dimensional information.

In step S401, the apparatus for generating three-dimensional informationmay acquire an image generated from a light source and an image obtainedby capturing an object to be reconstructed in three-dimensionalinformation. In this case, a coordinate reference mechanism including aplurality of protrusions reflecting the light provided by the lightsource may be provided between the light source and the object.Therefore, the acquired image may include light emitted by the lightsource, the coordinate reference mechanism unit, and the object, and mayfurther include a projection plane formed by the light, and a pluralityof protrusion reflection points reflected by the coordinate referencemechanism unit, and a projection plane line at which the projectionplane is reflected by the object.

In step S402, the apparatus for generating three-dimensional informationidentifies a coordinate of at least one protrusion reflection pointdisplayed in the image. For example, the apparatus for generatingthree-dimensional information may extract the protrusion reflectionpoints 33 a, 33 b, 33 c, and 33 d displayed in the image, and set a 2Dcoordinate of this point as [u₁ v₁] (i=0, 1, . . . , 3) for a coordinatesystem u_(C), v_(C).

Next, in step S403, the apparatus for generating three-dimensionalinformation identifies a relationship between at least one protrusionreflection point displayed in the image and actual protrusion reflectionpoints, considering the design information of the actual protrusion.Then, the apparatus identifies the projection plane formed by the lightconsidering the relationship between at least one protrusion reflectionpoint displayed in the image and the actual protrusion reflectionpoints, and generates the three-dimensional information using theprojection plane.

For example, the apparatus for generating three-dimensional informationsets a virtual coordinate system (Xi, Y1, Zi) in consideration of anactual space. Then, one point of the protrusion reflection pointsreflected by the plurality of protrusions 13 a, 13 b, 13 c, and 13 d isset as the origin, and the X axis and the Y axis are set to be locatedon the plane formed by the remaining points. Thus, the apparatus forgenerating three-dimensional information may acquire a three-dimensionalcoordinate ([X_(i) Y_(i) 0] (i=0, 1, . . . , 3) by reflecting astructure of the coordinate reference mechanism unit 13.

In the method for generating three-dimensional information according tothe embodiment of the present disclosure, a point [x_(i) y_(i)1]^(T)(K⁻¹[u_(i) v_(i) 1]^(T)) on the normalized image 200 plane can beexpressed by the following equation 6.

[x_(i) y_(i) 1]^(T){tilde over (≈)}H[X_(i) Y_(i) 1^(T)   [Equation 6]

Herein, H can be calculated from [X_(i) Y_(i) 0] (i=0, 1, . . . , 3) and[u_(i) v_(i)] (i=0, 1, . . . , 3) as a homography 3×3 matrix.

At this time, H can be expressed by the following equation 7 using arotation matrix (R=[r₀ r₁ r₂]) and a translation vector (t) between thetwo coordinate systems X₁ Y₁ Z₁ and X_(C) Y_(C) Z_(C).

H=[r ₀ r ₁ t ₃]  [Equation 7]

The three-dimensional information processing unit 17 can compute therotation matrix (R=[r₀ r₁ r₂]) and the translation vector (t) from Hobtained by Equation 7. Further, the three-dimensional informationprocessing unit 17 can improve the accuracy of the rotation matrix(R=[r₀ r₁ r₂]) and the translation vector (t) by a nonlinearoptimization method through a cost function of the following Equation 8and by setting the rotation matrix (R=[r₀ r₁ r₂]) and the translationvector (t) obtained above as initial values.

$\begin{matrix}{\sum\limits_{i = 0}^{3}{{\lbrack {x_{i}y_{i}} \rbrack^{T} - {\pi ( {\lbrack {r_{0}r_{1}t} \rbrack \lbrack {X_{i}Y_{i\;}1} \rbrack}^{T} )}}}^{2}} & \lbrack {{Equation}\mspace{14mu} 8} \rbrack\end{matrix}$

Herein, π([a b c]^(T)) is a function defined by [a/c b/c]^(T).

Next, the apparatus for generating three-dimensional information cancompute the projection plane 207 formed by the line laser based on therelationship information between the protrusion reflection point in theimage and the actual protrusion reflection point. For example, assumingthat r₂=[r₀₂ r₁₂ r₂₂]^(T) and t=[t_(x) t_(y) t_(z)]^(T), the apparatusfor generating three-dimensional information may compute the X₁-Y₁ planeexpression from the rotation matrix (R=[r₀ r₁ r₂]) and the translationvector (t). The X₁-Y₁ plane expression may be computed by the followingEquation 9.

r ₀₂(x−t _(x))+r ₁₂(y−t _(y))+r ₂₂(z−t _(z))=0   [Equation 9]

On the other hand, on the basis of a pinhole camera model, it ispossible to extend a projection line 203 passing through the arbitrarypoint 202 through which the line laser passes in the image 200, withrespect to the origin (O) 201 (see FIG. 2) of the camera coordinatesystem.

The light emitted by the line laser forms the projection plane 207, anda projection curve 204 of the line laser may be formed in the object 100as the projection plane 207 reaches the object 100.

In step S403, the apparatus for generating three-dimensional informationcan identify an intersection point 205 between the projection line 203and the projection plane 207 of the line laser. The intersection point205 may be determined as a point on a surface of the object 100.Consequently, the three-dimensional information processing unit 17indentifies the points through which the line laser passes on the image200 and identifies the intersection point corresponding to the points,thereby detecting coordinates of three-dimensional points on theprojection curve 204 corresponding to a point on the surface of theobject.

For example, the apparatus for generating three-dimensional informationmay define the arbitrary point 202 through which the line laser passeson the image 200 as [u v], and compute a direction vector of theprojection line 203 passing through the arbitrary point 202 via acomputation of the following Equation 10.

d{tilde over (≈)}K⁻¹[u v 1]^(T)   [Equation 10

Herein, K is a camera internal parameter matrix defined in a field ofcomputer vision, and the camera internal parameter matrix can be presetby a general camera calibration method. Further, the value of thearbitrary point 202 through which the line laser passes on the image 200can be corrected by reflecting a degree of distortion of a lens providedin the camera unit.

On the other hand, since the protrusion reflection points are generatedby causing the plurality of protrusions 13 a, 13 b, 13 c, and 13 d to beencountered on the projection plane 207, the plane expression of theabove Equation 9 coincides with the expression of the projection plane207. Furthermore, the projection plane 207 can form the projection planeline 204. Thus, the apparatus for generating three-dimensionalinformation may compute an intersection point 205 between the projectionline 203 and the projection plane 207 using the Equation 9 correspondingto the expression of the projection plane 207 and the Equation 10representing the direction vector of the projection line 203 passingthrough the arbitrary point 202.

According to the apparatus for generating three-dimensional informationof an embodiment of the present disclosure, it is possible to configurethe three-dimensional scanner, which is provided with only the simplecoordinate reference mechanism unit mounted on the light source, thecamera unit, and the three-dimensional information processing unit. Asdescribed above, since there is no need for a complicated mechanism tobe installed outside, it can be advantageous for movement andmaintenance. In particular, the camera unit and the three-dimensionalinformation processing unit can be provided in a mobile device, and thethree-dimensional scanner can be easily configured using the mobiledevice and the coordinate reference mechanism unit mounted on the lightsource.

Further, the apparatus for generating three-dimensional informationaccording to an embodiment of the present invention may simplifycorrection and improve the degree of accuracy, whereby it may be easilyused by an ordinary general person as well as an expert.

FIG. 5 is a block diagram illustrating a computing system that executesa method and an apparatus for generating three-dimensional informationin accordance with an embodiment of the present disclosure.

Referring to FIG. 5, a computing system 1000 includes at least oneprocessor 1100, a memory 1300, a user interface input device 1400, auser interface output device 1500, a storage 1600, and a networkinterface 1700 which are connected via a bus 1200.

The processor 1100 may be a semiconductor device that performsprocessing on instructions stored in a central processing unit (CPU) orthe memory 1300 and/or the storage 1600. The memory 1300 and the storage1600 may include various types of volatile or non-volatile storagemedia. For example, the memory 1300 may include a read only memory (ROM)and a random access memory (RAM).

Thus, the steps of a method or algorithm described in connection withthe embodiments disclosed herein may be embodied directly in hardware, asoftware module, or a combination of two executed by the processor 1100.The software module may reside in a storage medium (e.g., memory 1300and/or storage 1600) such as a RAM memory, a flash memory, a ROM memory,an EPROM memory, an EEPROM memory, a register, a hard disk, a removabledisk, and CD-ROM. An exemplary storage medium is coupled to theprocessor 1100, which is capable of reading information from, andwriting information to, the storage medium. Alternatively, the storagemedium may be integral with the processor 1100. The processor and thestorage medium may reside within an application specific integratedcircuit (ASIC). The ASIC may reside within the user terminal.Alternatively, the processor and the storage medium may reside asdiscrete components in a user terminal.

Although the exemplary methods of this disclosure are represented by aseries of steps for clarity of explanation, they are not intended tolimit the order in which the steps are performed, and if necessary, eachstep may be performed simultaneously or in a different order. In orderto implement the method according to the present disclosure, it ispossible to include other steps to the illustrative steps additionally,exclude some steps and include remaining steps, or exclude some stepsand include additional steps.

The various embodiments of the disclosure are not intended to beexhaustive of all possible combination, but rather to illustraterepresentative aspects of the disclosure, and the features described inthe various embodiments may be applied independently or in a combinationof two or more.

In addition, various embodiments of the present disclosure may beimplemented by hardware, firmware, software, or a combination thereof. Acase of hardware implementation may be performed by one or moreapplication specific integrated circuits (ASICs), digital signalprocessors (DSPs), digital signal processing devices (DSPDs),programmable logic devices (PLDs), field programmable gate arrays(FPGAs), a general processor, a controller, a microcontroller, amicroprocessor, and the like.

The scope of the present disclosure is to encompass software ormachine-executable instructions (e.g., operating system, applications,firmware, instructions, and the like) by which operations according tomethod of various embodiments are executed on a device or a computer,and non-transitory computer-readable media executable on the device orthe computer, on which such software or instructions are stored.

1. An apparatus for generating three-dimensional information, theapparatus comprising: a light source providing light to an object to bereconstructed in three-dimensional information; a coordinate referencemechanism unit provided between the light source and the object andhaving a plurality of protrusions reflecting the light; a camera unitoutputting an image capturing the coordinate reference mechanism unitand the object simultaneously; and a three-dimensional informationprocessing unit generating three-dimensional information of the objectby identifying a projection plane formed by the light and using theprojection plane, considering a relationship between a plurality ofactual protrusion reflection points at which the light is reflected bythe plurality of protrusions respectively and a plurality of protrusionreflection points displayed in the image.
 2. The apparatus of claim 1,wherein the coordinate reference mechanism unit includes at least threeprotrusions.
 3. The method of claim 1, wherein the coordinate referencemechanism unit includes a base plate on which the plurality ofprotrusions are fixed, and a fixing arm connecting the light source andthe base plate to each other.
 4. The apparatus of claim 1, wherein thethree-dimensional information processing unit identifies a relationshipinformation between the plurality of actual protrusion reflection pointsbased on positions and arrangements of the plurality of protrusionreflection points and the plurality of protrusion reflection pointsdisplayed in the image.
 5. The apparatus of claim 4, wherein thethree-dimensional information processing unit computes the relationshipinformation including a rotation matrix and a translation vector betweena coordinate value of the plurality of actual protrusion reflectionpoints and a coordinate value of the plurality of protrusion reflectionpoints displayed in the image.
 6. The apparatus of claim 5, wherein thethree-dimensional information processing unit computes the projectionplane based on the relationship information.
 7. The apparatus of claim1, wherein the three-dimensional information processing unit transformsan intersection point between the projection plane actually formed onthe object and a projection point actually projected on the object froman origin of a camera coordinate system through a point of the objectdisplayed in the image, into at least one three-dimensional coordinatepoint, and combines the at least one three-dimensional coordinate pointto generate the three-dimensional information of the object.
 8. Theapparatus of claim 1, wherein the camera unit includes a plurality ofcamera devices provided in areas where the object is captured indifferent directions, to capture different images; and thethree-dimensional information processing unit generates thethree-dimensional information of the object using the projection planeand the plurality of protrusion reflection points included in thedifferent images.
 9. The apparatus of claim 1, wherein the light sourceincludes at least one line laser device outputting a line laser.
 10. Theapparatus of claim 1, wherein the light source includes at least onepattern laser device outputting laser light of a predefined pattern. 11.A method for generating three-dimensional information, the methodcomprising: acquiring an image by capturing a coordinate referencemechanism unit provided between a light source and an object to bereconstructed in three-dimensional information and having a plurality ofprotrusions reflecting light provided from the light source, and theobject simultaneously; identifying coordinates of a plurality ofprotrusion reflection points at which the light is reflected by theplurality of protrusions in the image; and generating thethree-dimensional information of the object by identifying a projectionplane formed by the light and using the projection plane, considering arelationship between the plurality of protrusion reflection points inthe image and a plurality of actual protrusion reflection pointsactually reflected by the plurality of protrusions.
 12. The method ofclaim 11, wherein the generating the three-dimensional information ofthe object includes identifying a relationship between the plurality ofprotrusion reflection points in the image and the plurality of actualprotrusion reflection points.
 13. The method of claim 12, wherein thegenerating the three-dimensional information of the object includescomputing the projection plane formed by the light based on therelationship information.
 14. The method of claim 12, wherein theidentifying the relationship information includes identifying therelationship information including a rotation matrix and a translationvector between a coordinate value of the plurality of actual protrusionreflection points and a coordinate value of the plurality of protrusionreflection points displayed in the image.
 15. The method of claim 12,wherein the generating the three-dimensional information of the objectincludes transforming an intersection point between the projection planeand a projection point actually projected on the object from an originof a camera coordinate system through a point of the object displayed inthe image, into at least one three-dimensional coordinate point.
 16. Themethod of claim 11, wherein the acquiring the image by capturing theobject includes identifying different images captured from camerasprovided in different directions.
 17. The method of claim 11, whereinthe light provided from the light source is at least one line laserlight.
 18. The method of claim 11, wherein the light provided from thelight source is laser light of a predefined pattern.